CN110293548B - Obstacle avoidance method and control system for intelligent narrow door crossing of locomotive inspection and repair robot - Google Patents
Obstacle avoidance method and control system for intelligent narrow door crossing of locomotive inspection and repair robot Download PDFInfo
- Publication number
- CN110293548B CN110293548B CN201810235101.5A CN201810235101A CN110293548B CN 110293548 B CN110293548 B CN 110293548B CN 201810235101 A CN201810235101 A CN 201810235101A CN 110293548 B CN110293548 B CN 110293548B
- Authority
- CN
- China
- Prior art keywords
- locomotive
- converter
- door
- rotatable platform
- carriage door
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses an obstacle avoidance method for a locomotive maintenance robot to intelligently pass through a narrow door, which comprises the following steps of firstly, acquiring position information between a locomotive converter and a locomotive carriage door, wherein the position information is acquired by a position acquisition module; judging whether the position information is matched with a preset position or not; if yes, controlling the rotatable platform to rotate so that the locomotive converter penetrates through a locomotive carriage door; wherein the locomotive converter is positioned on the rotatable platform. Therefore, when the rotatable platform carries the locomotive converter to reach the position near the locomotive carriage door, the obstacle avoidance method can control the rotatable platform to rotate according to the relationship between the position information between the locomotive converter and the locomotive carriage door, which is acquired by the position acquisition module, and the preset position, so that the locomotive converter passes through the locomotive carriage door, the problem that the traditional manual carrying mode wastes time and labor can be avoided, and the locomotive overhaul efficiency is improved. In addition, the invention also discloses a control system for the locomotive maintenance robot to pass through the narrow door intelligently, and the effect is as above.
Description
Technical Field
The invention relates to the field of intelligent locomotive maintenance, in particular to an obstacle avoidance method and an obstacle avoidance control system for a locomotive maintenance robot to pass through a narrow door intelligently.
Background
Because present locomotive converter module is wider than locomotive carriage door, when the original converter module of locomotive broke down and need to be changed, because of being responsible for the target equipment who transports the converter module can't directly pass locomotive carriage narrow door, mainly make the locomotive converter pass locomotive carriage narrow door through the mode of artifical transport at present, this handling wastes time and energy, influences locomotive maintenance efficiency.
Therefore, the problem that how to overcome the problem that the locomotive overhauling efficiency is low because the target equipment in charge of conveying the converter module cannot directly pass through the narrow door of the locomotive carriage is an urgent problem to be solved by the technical personnel in the field.
Disclosure of Invention
The embodiment of the application provides an obstacle avoidance method and a control system for a locomotive maintenance robot to pass through a narrow door intelligently, and aims to solve the problem that in the prior art, target equipment responsible for conveying a converter module cannot directly pass through a narrow door of a locomotive carriage, so that the locomotive maintenance efficiency is low.
In order to solve the technical problem, the invention provides an obstacle avoidance method for a locomotive maintenance robot to pass through a narrow door intelligently, which comprises the following steps:
Acquiring position information between a locomotive converter and a locomotive carriage door, which is acquired by a position acquisition module;
judging whether the position information is matched with a preset position or not;
if so, controlling the rotatable platform to rotate so that the locomotive converter passes through the locomotive carriage door;
wherein the locomotive converter is located at the rotatable platform.
Preferably, the position information between the locomotive converter and the locomotive carriage door, acquired by the acquiring position acquiring module, is specifically:
and acquiring the position information between the protruding part of the locomotive converter and the locomotive carriage door, which is acquired by the position acquisition module.
Preferably, the controlling the rotatable platform to rotate to enable the locomotive converter to pass through the locomotive car door specifically comprises:
controlling the rotatable platform to rotate a first preset angle in a first direction to enable the protruding part to enter the locomotive compartment door;
judging whether the locomotive converter can successfully pass through the locomotive carriage door at the first preset angle according to the parameters of the locomotive carriage door and the parameters of the locomotive converter;
if yes, controlling the locomotive converter to penetrate through the locomotive carriage door at the first preset angle;
If not, controlling the rotatable platform to rotate by a second preset angle along a second direction opposite to the first direction so that the locomotive converter passes through the locomotive carriage door.
Preferably, after the locomotive converter successfully passes through the locomotive car door, the method further comprises:
and displaying the prompt message.
Preferably, the position information between the locomotive converter and the locomotive carriage door, acquired by the acquiring position acquiring module, is specifically:
and acquiring position information between the locomotive converter and the locomotive carriage door, which is acquired by a visual sensor.
In order to solve the technical problem, the invention also provides a control system corresponding to the obstacle avoidance method for the locomotive maintenance robot to intelligently pass through the narrow door, which comprises a position acquisition module, a controller and a rotatable platform arranged on target equipment and used for bearing a locomotive converter; the position acquisition module is used for acquiring position information between the locomotive converter and the locomotive carriage door;
the controller is respectively connected with the position acquisition module and the rotatable platform and is used for controlling the rotatable platform to rotate to enable the locomotive converter to penetrate through the locomotive carriage door when the position information is matched with a preset position;
Wherein the target device is a mobile device.
Preferably, the locomotive converter is detachably mounted to the rotatable platform.
Preferably, the position acquisition module is embodied as a vision sensor.
Preferably, the vision sensor is specifically mounted at the locomotive car door.
Preferably, the rotatable platform is embodied as a square rotatable platform having a width smaller than a width of the body part of the locomotive converter or a circular rotatable platform having a diameter smaller than the width of the body part.
Compared with the prior art, the invention provides an obstacle avoidance method for the locomotive maintenance robot to pass through a narrow door intelligently, and the obstacle avoidance method comprises the steps of firstly acquiring position information between a locomotive converter and a locomotive carriage door, which is acquired by a position acquisition module; judging whether the position information is matched with a preset position or not; if yes, controlling the rotatable platform to rotate so that the locomotive converter penetrates through a locomotive carriage door; wherein the locomotive converter is positioned on the rotatable platform. Therefore, when the rotatable platform carries the locomotive converter to reach the position near the locomotive carriage door, the obstacle avoidance method can control the rotatable platform to rotate according to the relationship between the position information between the locomotive converter and the locomotive carriage door, which is acquired by the position acquisition module, and the preset position, so that the locomotive converter passes through the locomotive carriage door, the problem that the traditional manual carrying mode wastes time and labor can be avoided, and the locomotive overhaul efficiency is improved. In addition, the invention also provides a control system for the locomotive maintenance robot to pass through the narrow door intelligently, and the effect is as above.
Drawings
Fig. 1 is a flowchart of an obstacle avoidance method for a locomotive maintenance robot to pass through a narrow door intelligently according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a positional relationship between a current transformer and a compartment door of a locomotive when a rotatable platform rotates a first predetermined angle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a position of the rotatable platform after the rotatable platform travels a distance at a first predetermined angle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a position relationship between a current transformer and a car door of the locomotive when the rotatable platform rotates a second predetermined angle according to an embodiment of the present invention;
fig. 5 is a schematic view of a control system of a locomotive maintenance robot for intelligent passage through a narrow door according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide an obstacle avoidance method and a control system for the locomotive maintenance robot to pass through a narrow door intelligently, which can solve the problem of low locomotive maintenance efficiency caused by the fact that target equipment in charge of conveying a converter module cannot pass through the narrow door of a locomotive carriage directly.
In order that those skilled in the art will better understand the disclosure, reference will now be made in detail to the embodiments of the present disclosure, which are illustrated in the accompanying drawings.
Fig. 1 is a flowchart of an obstacle avoidance method for a robot for locomotive maintenance to pass through a narrow door intelligently, as shown in fig. 1, the obstacle avoidance method includes the following steps:
s101: and acquiring the position information between the locomotive converter and the locomotive carriage door acquired by the position acquisition module.
S102: and judging whether the position information is matched with the preset position, and if so, entering the step S103.
S103: the rotatable platform is controlled to rotate to enable the locomotive converter to penetrate through the locomotive carriage door.
Wherein the locomotive converter is positioned on the rotatable platform.
When target equipment carrying the locomotive converter moves to the position near a locomotive carriage door, acquiring position information between the locomotive converter and the locomotive carriage door in real time by using a position acquisition module; when the position information acquired by the position acquisition module is acquired, judging whether the acquired position information is matched with a preset position, and if the position information is matched with the preset position, controlling a rotatable platform bearing a locomotive converter to rotate so that the locomotive converter passes through a locomotive carriage door; and if the position information acquired by the position acquisition module is not matched with the preset position, controlling the target equipment to continue to advance. In the embodiment of the application, the position acquisition module is preferably a vision sensor, and the vision sensor can be used for acquiring the profile information of the locomotive converter, namely the specific shape of the locomotive converter can be known. Of course, the position acquisition module may be a visual sensor, or may be other position acquisition modules meeting the conditions, and the present invention is not limited thereto. The preset positions are set in advance, a plurality of preset positions can be set, when the target equipment carrying the locomotive converter reaches different preset positions, the rotatable platform can be controlled to rotate by different angles so that the locomotive converter can penetrate through a locomotive carriage door, and the specific rotation degree can be determined according to actual conditions.
The target device is preferably a locomotive maintenance robot in the embodiment of the application, a rotatable platform is installed on the locomotive maintenance robot, and a locomotive converter is placed on the rotatable platform. Of course, the target device may be other target devices meeting the requirements besides the locomotive maintenance robot, and the type of the target device does not affect the implementation of the embodiment of the present application.
The obstacle avoidance method provided by the embodiment of the application is preferably applied to a locomotive compartment, a locomotive compartment door is narrower than a locomotive converter, and the locomotive converter can successfully pass through the narrow locomotive compartment door by using the obstacle avoidance method. Of course, the obstacle avoidance method may also be applied to a narrow door of an aircraft corridor and a narrow door of a submarine corridor, and is not described herein again.
The invention provides an obstacle avoidance method for a locomotive maintenance robot to intelligently pass through a narrow door, which comprises the following steps of firstly, acquiring position information between a locomotive converter and a locomotive carriage door, wherein the position information is acquired by a position acquisition module; judging whether the position information is matched with a preset position or not; if yes, controlling the rotatable platform to rotate so that the locomotive converter penetrates through a locomotive carriage door; wherein the locomotive converter is positioned on the rotatable platform. Therefore, when the rotatable platform carries the locomotive converter to reach the position near the locomotive carriage door, the obstacle avoidance method can control the rotatable platform to rotate according to the relationship between the position information between the locomotive converter and the locomotive carriage door, which is acquired by the position acquisition module, and the preset position, so that the locomotive converter passes through the locomotive carriage door, the problem that the traditional manual carrying mode wastes time and labor can be avoided, and the locomotive overhaul efficiency is improved.
On the basis of the above embodiment, as a preferred implementation, the obtaining of the position information between the locomotive converter and the locomotive car door, which is acquired by the position acquisition module, is specifically:
and acquiring the position information between the protruding part of the locomotive converter and the locomotive carriage door, which is acquired by the position acquisition module.
On the basis of the above embodiment, as a preferred implementation, the controlling the rotatable platform to rotate so that the locomotive converter passes through the locomotive compartment door specifically includes:
controlling the rotatable platform to rotate a first preset angle in a first direction to enable the protruding part to enter the locomotive carriage door;
judging whether the locomotive converter can successfully pass through the locomotive carriage door at a first preset angle according to the parameters of the locomotive carriage door and the parameters of the locomotive converter;
if yes, controlling the locomotive converter to penetrate through the locomotive carriage door at a first preset angle;
if not, the rotatable platform is controlled to rotate in a second direction opposite to the first direction by a second preset angle so that the locomotive converter passes through the locomotive carriage door.
In order to facilitate detection and improve detection accuracy of position information of the locomotive converter, preferably, the position information between the protruding part of the locomotive converter and the locomotive carriage door can be acquired by using a position acquisition module, and when the acquired position information between the protruding part of the locomotive converter and the locomotive carriage door is matched with a preset standard position, the rotatable platform is firstly controlled to rotate by a first preset angle along a first direction so that the protruding part enters the locomotive carriage door; that is, when the target device carries the locomotive converter to drive to a specified rotation position, the rotatable platform is controlled to rotate in one direction by a first preset angle to enable a protruding part of the locomotive converter to enter a locomotive carriage door, a position acquisition module is used for acquiring parameters of the locomotive carriage door and parameters of the locomotive converter in real time, and whether the locomotive converter can successfully pass through the locomotive carriage door at the first preset angle is judged according to the parameters of the locomotive carriage door and the parameters of the locomotive converter; if the locomotive converter can penetrate through the locomotive carriage door on the premise that the rotatable platform rotates by a first preset angle, controlling the rotatable platform to carry the locomotive converter to penetrate through the locomotive carriage door by the first preset angle; if the locomotive converter can not completely pass through the locomotive carriage door on the premise that the rotatable platform rotates by the first preset angle, the rotatable platform is controlled to rotate by the second preset angle in the opposite direction so that the locomotive converter can pass through the locomotive carriage door. Fig. 2 is a schematic diagram of a positional relationship between a current transformer and a car door of a locomotive when a rotatable platform rotates by a first preset angle according to an embodiment of the present invention, fig. 3 is a schematic diagram of a position of the rotatable platform after the rotatable platform travels a distance by the first preset angle according to an embodiment of the present invention, and fig. 4 is a schematic diagram of a positional relationship between the current transformer and the car door of the locomotive when the rotatable platform rotates by a second preset angle according to an embodiment of the present invention. The above process can be seen in fig. 2, 3 and 4, in which 1 is a locomotive car wall, 2 is a locomotive car door, 3 is a body component of a locomotive converter, 4 is a protruding component of the locomotive converter, 5 is a rotatable platform, 6 is a target device, and 7 is a passing track. The position acquisition module is in practical use installed at the locomotive car door 2 and is not shown in fig. 2, 3 and 4. If the rotatable platform rotates for a first preset angle, the locomotive converter can penetrate through the locomotive carriage door 2, and then the locomotive converter is directly controlled to penetrate through the locomotive carriage door 2 according to the position relation shown in the figure 3; if the locomotive converter cannot completely pass through the locomotive car door 2 under the condition shown in fig. 3 (the rotating platform rotates by the first preset angle), the rotatable platform 5 is controlled to rotate by the second preset angle in the direction opposite to the rotating direction in fig. 3 so that the locomotive converter passes through the locomotive car door 2, as shown in fig. 4, after the rotatable platform 5 rotates by the second preset angle in the opposite direction in fig. 4, the locomotive converter is in the original state, that is, the second preset angle is equal to the first preset angle, and in practical application, the second preset angle may not be equal to the first preset angle, as long as it is ensured that the locomotive converter can pass through the locomotive car door 2 after the rotatable platform 5 rotates by the second preset angle.
The parameters of the locomotive compartment door 2 comprise the door frame thickness of the locomotive compartment door 2, the width of the locomotive compartment door 2 and the like, and the parameters of the locomotive converter comprise the shape of the protruding part 4 of the locomotive converter, the length and the width of the protruding part 4, the length and the width of the body part 3 of the converter and the like; the first preset angle and the second preset angle are both set in advance, the specific setting is proper, the setting can be determined according to actual conditions, the first preset angle and the second preset angle can be equal or unequal, and the size relationship between the first preset angle and the second preset angle can be determined according to parameters of the locomotive carriage door 2 and parameters of the locomotive converter; the naming of the first preset angle and the second preset angle is only used for distinguishing different preset angles and naming according to habits and preferences, and has no other special meanings; of course, the size relationship and naming manner of the first preset angle and the second preset angle do not affect the implementation of the embodiment of the present application.
On the basis of the above embodiment, as a preferred implementation, after the locomotive converter successfully passes through the locomotive car door 2, the method further comprises:
and displaying prompt information.
In order to enable the relevant personnel to know the operation condition of the locomotive converter in time, after the locomotive converter successfully passes through the locomotive carriage door 2, a prompt message that the locomotive converter has successfully passed through the locomotive carriage door 2 can be displayed on a display interface.
The above embodiment of the obstacle avoidance method for the intelligent robot for inspecting and repairing the locomotive to pass through the narrow door is described in detail, and based on the obstacle avoidance method for the intelligent robot for inspecting and repairing the locomotive to pass through the narrow door described in the above embodiment, the embodiment of the invention also provides a control system corresponding to the method. Since the embodiment of the system part corresponds to the embodiment of the method part, the embodiment of the system part is described with reference to the embodiment of the method part, and is not described again here.
Fig. 5 is a schematic composition diagram of a control system for a locomotive maintenance robot to pass through a narrow door intelligently, as shown in fig. 5, the control system includes a position acquisition module 501, a controller 502, and a rotatable platform 5 disposed on a target device 6 for carrying a locomotive converter; the position acquisition module 501 is used for acquiring position information between a locomotive converter (a body part 3+ a protruding part 4) and a locomotive carriage door 2;
the controller 502 is respectively connected with the position acquisition module 501 and the rotatable platform 5, and is used for controlling the rotatable platform 5 to rotate to enable the locomotive converter to pass through the locomotive carriage door 2 when the position information is matched with a preset position; wherein the target device 6 is a mobile device.
In the control system, the target device 6 is preferably a locomotive maintenance robot, of course, the target device 6 may be other target devices meeting requirements besides the locomotive maintenance robot, and the invention is not limited thereto.
The invention provides a control system for a locomotive overhaul robot to pass through a narrow door intelligently, which comprises a position acquisition module, a controller and a rotatable platform, wherein the rotatable platform is arranged on target equipment and used for bearing a locomotive converter; the position acquisition module is used for acquiring position information between the locomotive converter and a locomotive carriage door; the controller is respectively connected with the position acquisition module and the rotatable platform and is used for controlling the rotatable platform to rotate to enable the locomotive converter to penetrate through a locomotive carriage door when the position information is matched with a preset position; wherein the target device is a mobile device. Therefore, when the rotatable platform carries the locomotive converter to reach the position near the locomotive carriage door, the controller of the control system can control the rotatable platform to rotate so that the locomotive converter passes through the locomotive carriage door according to the position information between the locomotive converter and the locomotive carriage door, which is acquired by the position acquisition module, and the preset position, so that the problem that the traditional manual carrying mode wastes time and labor can be avoided, and the locomotive overhaul efficiency is improved.
On the basis of the above described embodiment, as a preferred embodiment, the locomotive converter is detachably mounted to the rotatable platform 5.
On the basis of the above-mentioned embodiment, as a preferred implementation, the position acquisition module 501 is specifically a vision sensor.
On the basis of the above embodiment, as a preferred implementation, the vision sensor is specifically installed at the locomotive car door 2.
To improve accuracy, the vision sensor may be specifically mounted at the locomotive car door 2.
On the basis of the above described embodiment, as a preferred embodiment, the rotatable platform 5 is embodied as a square rotatable platform having a width smaller than the width of the body part 4 of the locomotive converter or as a circular rotatable platform having a diameter smaller than the width of the body part 3.
In order to increase the contact area between the rotatable platform 5 and the locomotive converter and improve the installation stability of the locomotive converter, the rotatable platform 5 is embodied as a square rotatable platform with a width smaller than the width of the body part 3 of the locomotive converter or a circular rotatable platform with a diameter smaller than the width of the body part 3.
The obstacle avoidance method and the control system for the intelligent passing narrow door of the locomotive maintenance robot provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein using several examples, the above description of which is only intended to facilitate the understanding of the method and its core concepts of the present invention; meanwhile, for those skilled in the art, based on the idea of the present invention, there may be variations in the specific embodiments and applications, and in summary, the present disclosure should not be construed as a limitation of the present invention, and those skilled in the art should include modifications, equivalent substitutions, improvements and the like without inventive labor.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the term "comprises/comprising" and the like, such that a unit, device or system comprising a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such unit, device or system.
Claims (8)
1. An obstacle avoidance method for a locomotive maintenance robot to pass through a narrow door intelligently is characterized by comprising the following steps:
acquiring position information between a locomotive converter and a locomotive carriage door acquired by a position acquisition module;
judging whether the position information is matched with a preset position or not;
if so, controlling the rotatable platform to rotate so that the locomotive converter passes through the locomotive carriage door;
wherein the locomotive converter is located at the rotatable platform;
the position information between the locomotive converter and the locomotive carriage door acquired by the position acquisition module is specifically as follows:
acquiring position information between a protruding part of the locomotive converter and a locomotive carriage door, which is acquired by the position acquisition module;
The controlling the rotatable platform to rotate to enable the locomotive converter to penetrate through the locomotive carriage door specifically comprises:
controlling the rotatable platform to rotate a first preset angle in a first direction to enable the protruding part to enter the locomotive compartment door;
judging whether the locomotive converter can successfully pass through the locomotive carriage door at the first preset angle according to the parameters of the locomotive carriage door and the parameters of the locomotive converter;
if yes, controlling the locomotive converter to penetrate through the locomotive carriage door at the first preset angle;
if not, controlling the rotatable platform to rotate by a second preset angle along a second direction opposite to the first direction so that the locomotive converter passes through the locomotive carriage door.
2. The obstacle avoidance method for intelligent crossing of a narrow door by a locomotive service robot as claimed in claim 1, wherein after said locomotive converter successfully crosses said locomotive car door, further comprising:
and displaying prompt information.
3. The obstacle avoidance method for the locomotive maintenance robot to intelligently pass through the narrow door according to claim 1 or 2, wherein the position information between the locomotive converter and the locomotive carriage door, which is acquired by the acquisition position acquisition module, is specifically:
And acquiring position information between the locomotive converter and the locomotive carriage door, which is acquired by a visual sensor.
4. A control system for a locomotive maintenance robot to pass through a narrow door intelligently is characterized by comprising a position acquisition module, a controller and a rotatable platform, wherein the rotatable platform is arranged on target equipment and used for bearing a locomotive converter; the position acquisition module is used for acquiring position information between the locomotive converter and the locomotive carriage door;
the controller is respectively connected with the position acquisition module and the rotatable platform and is used for controlling the rotatable platform to rotate to enable the locomotive converter to penetrate through the locomotive carriage door when the position information is matched with a preset position;
wherein the target device is a mobile device;
the position information between the locomotive converter and the locomotive carriage door acquired by the position acquisition module is specifically as follows:
acquiring position information between a protruding part of the locomotive converter and a locomotive carriage door, which is acquired by the position acquisition module;
controlling the rotatable platform to rotate to enable the locomotive converter to penetrate through the locomotive carriage door specifically comprises:
controlling the rotatable platform to rotate a first preset angle in a first direction to enable the protruding part to enter the locomotive compartment door;
Judging whether the locomotive converter can successfully pass through the locomotive carriage door at the first preset angle according to the parameters of the locomotive carriage door and the parameters of the locomotive converter;
if yes, controlling the locomotive converter to penetrate through the locomotive carriage door at the first preset angle;
if not, controlling the rotatable platform to rotate by a second preset angle along a second direction opposite to the first direction so that the locomotive converter passes through the locomotive carriage door.
5. The locomotive service robot smart cross narrow door control system of claim 4, wherein the locomotive inverter is removably mounted to the rotatable platform.
6. The control system for locomotive service robot intelligent crossing narrow door according to claim 4, characterized in that said position acquisition module is embodied as a vision sensor.
7. The locomotive service robot intelligent pass-through narrow door control system of claim 6, wherein the vision sensor is specifically mounted at the locomotive car door.
8. The locomotive service robot intelligent cross narrow door control system according to any one of claims 4 to 7, characterized in that the rotatable platform is in particular a square rotatable platform having a width smaller than the width of the locomotive converter body part or a circular rotatable platform having a diameter smaller than the width of the body part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810235101.5A CN110293548B (en) | 2018-03-21 | 2018-03-21 | Obstacle avoidance method and control system for intelligent narrow door crossing of locomotive inspection and repair robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810235101.5A CN110293548B (en) | 2018-03-21 | 2018-03-21 | Obstacle avoidance method and control system for intelligent narrow door crossing of locomotive inspection and repair robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110293548A CN110293548A (en) | 2019-10-01 |
| CN110293548B true CN110293548B (en) | 2022-06-10 |
Family
ID=68025456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810235101.5A Active CN110293548B (en) | 2018-03-21 | 2018-03-21 | Obstacle avoidance method and control system for intelligent narrow door crossing of locomotive inspection and repair robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110293548B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0746710A (en) * | 1993-08-04 | 1995-02-14 | Matsushita Electric Ind Co Ltd | Mobile working robot |
| CN101949687A (en) * | 2010-09-19 | 2011-01-19 | 天津大学 | Detection method of automobile door based on vision measurement |
| EP2363775A1 (en) * | 2000-05-01 | 2011-09-07 | iRobot Corporation | Method and system for remote control of mobile robot |
| CN105717928A (en) * | 2016-04-26 | 2016-06-29 | 北京进化者机器人科技有限公司 | Vision-based robot navigation door-passing method |
| CN106707739A (en) * | 2016-12-06 | 2017-05-24 | 山东康威通信技术股份有限公司 | Redundancy control system and method for railway robot to automatically pass through fire exit door |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3356719B1 (en) * | 2015-09-29 | 2020-11-04 | Saudi Arabian Oil Company | Automated pipeline pig handling system |
-
2018
- 2018-03-21 CN CN201810235101.5A patent/CN110293548B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0746710A (en) * | 1993-08-04 | 1995-02-14 | Matsushita Electric Ind Co Ltd | Mobile working robot |
| EP2363775A1 (en) * | 2000-05-01 | 2011-09-07 | iRobot Corporation | Method and system for remote control of mobile robot |
| CN101949687A (en) * | 2010-09-19 | 2011-01-19 | 天津大学 | Detection method of automobile door based on vision measurement |
| CN105717928A (en) * | 2016-04-26 | 2016-06-29 | 北京进化者机器人科技有限公司 | Vision-based robot navigation door-passing method |
| CN106707739A (en) * | 2016-12-06 | 2017-05-24 | 山东康威通信技术股份有限公司 | Redundancy control system and method for railway robot to automatically pass through fire exit door |
Non-Patent Citations (1)
| Title |
|---|
| 搬家必须知道的尺寸;居住进化论;《https://www.sohu.com/a/190863214_680754》;20170909;第1页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110293548A (en) | 2019-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107462213B (en) | Iron tower inclination angle automatic measurement method based on machine vision system | |
| CN104133476B (en) | Self-adaption path tracking method of inspection robot | |
| CN109240313A (en) | Barrier-avoiding method, the apparatus and system of unmanned fork truck | |
| CN107272657B (en) | Method and system for realizing automatic overhaul of vehicle and related equipment | |
| CN104391506A (en) | Transformer station guide rail type inspection robot | |
| CN110104036B (en) | Tramcar simulation operation system and tramcar simulation operation method | |
| CN103204442B (en) | System and method for online monitoring structural deformation of tower crane | |
| CN102063746A (en) | Program-controlled patrol machine and program-controlled patrol method for transformer station | |
| CN109141920A (en) | Automatic driving vehicle rainy day environment sensing recognition capability test evaluation system and method | |
| CN105867366A (en) | Method for full-automatic smart routing inspection of electrical equipment in substation | |
| CN111882694A (en) | Machine room inspection method and device and robot | |
| CN105320141A (en) | Method for inspecting electrical equipment in transformer substation | |
| CN104240321A (en) | Intelligent inspection system based on Zigbee wireless network | |
| CN104391510A (en) | Control method and system of robot applied to multi-substation routing inspection | |
| CN110293548B (en) | Obstacle avoidance method and control system for intelligent narrow door crossing of locomotive inspection and repair robot | |
| CN112033412A (en) | Method and device for improving positioning precision of inspection robot | |
| CN210866029U (en) | Isolator position detection device based on vision | |
| CN205193538U (en) | Equipment state monitoring device based on intelligent vehicle | |
| CN217256304U (en) | Indoor high-voltage cabinet box detection robot | |
| CN214067386U (en) | Vehicle access detection system based on laser radar | |
| CN105484604A (en) | Hangar front door control system and method | |
| CN202025364U (en) | Programmable control inspection machine for substation | |
| CN205445277U (en) | Hangar gate of all -round image control | |
| CN110516551B (en) | Vision-based line patrol position deviation identification system and method and unmanned aerial vehicle | |
| CN111319656B (en) | Method, device, equipment and storage medium for operating self-wheel-running special equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |